Class constraint_helper
Defined in File l1HQP.h
Inheritance Relationships
Base Type
public OpenSoT::Constraint< Eigen::MatrixXd, Eigen::VectorXd >(Template Class Constraint)
Class Documentation
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class constraint_helper : public OpenSoT::Constraint<Eigen::MatrixXd, Eigen::VectorXd>
Public Types
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typedef std::shared_ptr<constraint_helper> Ptr
Public Functions
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constraint_helper(std::string id, OpenSoT::constraints::Aggregated::ConstraintPtr constraints, const AffineHelper &x)
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virtual void update()
Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.
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typedef std::shared_ptr<constraint_helper> Ptr